Controller design for a teleoperator system with dissimilar kinematics and force feedback

Conference · Mon Jan 01 04:00:00 EST 1990

OSTI ID:6452695

Jansen, J F; Kress, R L; Babcock, S M; Hamel, W R

The purpose of this paper is to develop a controller for dissimilar kinematic teleoperator systems, which include a force/torque sensor mounted on the slave. Due to improved modern microprocessor computing capability and the trend toward redundant slaves, the next generation of teleoperator systems will likely incorporate dissimilar kinematics in their design; consequently, a need exists for a workable control scheme for these systems. The control scheme presented in this paper incorporates the work and ideas of numerous researchers over the past 40 years. The master controller and the orientation representation using Euler parameters for the both the master and slave will be the main focus of this paper. The implementation of the master controller on a 6-degrees-of-freedom (DOF) master is also discussed. Only a brief summary of the overall strategy will be presented. 13 refs., 1 fig.

• Research Organization: Oak Ridge National Lab., TN (USA)
• Sponsoring Organization: DOD
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 6452695
• Report Number(s): CONF-910223-4; ON: DE91004391
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
420203* -- Engineering-- Handling Equipment & Procedures
99 GENERAL AND MISCELLANEOUS
990200 -- Mathematics & Computers
COMPUTERS
CONTROL
DESIGN
ELECTRONIC CIRCUITS
EQUIPMENT
FEEDBACK
LABORATORY EQUIPMENT
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
MATHEMATICAL MODELS
MICROELECTRONIC CIRCUITS
MICROPROCESSORS
NAVIGATION
REMOTE HANDLING EQUIPMENT
ROBOTS